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robotont_gazebo

Build Status License

Dependencies

Running the simulator

To run the simulator:

roslaunch robotont_gazebo gazebo.launch

The launch file has four arguments:

  • model - chooses between a model with NUC and realsense and a model without them
    • default: robotont_gazebo_nuc
    • options: robotont_gazebo_nuc, robotont_gazebo_basic, robotont_gazebo_lidar
  • world - chooses which world to use
    • default: empty.world
    • options: empty.world, minimaze.world, bangbang.world, between.world, colors.world
  • x_pos - chooses x coordinate of the world, controls where the robot will spawn, default: 0

For example, the following command will spawn the robot to a map called bangbang.world in position x=2 and the model that will be used is robotont_gazebo_nuc.

roslaunch robotont_gazebo gazebo.launch world:=$(rospack find robotont_gazebo)/worlds/bangbang.world model:=robotont_gazebo_nuc x_pos:=2

To simply run the worlds without using the arguments:

  • roslaunch robotont_gazebo world_minimaze.launch
  • roslaunch robotont_gazebo world_bangbang.launch
  • roslaunch robotont_gazebo world_between.launch
  • roslaunch robotont_gazebo world_colors.launch